MIDDLETON — A 36-year-old man was arraigned on five felony charges Friday following an alleged home invasion and a three-hour armed standoff in Middleton.

Richard Penney is accused of holding a loaded gun to his brother's head on Thursday, then forcing his way into a woman's home and holding her hostage. Penney allegedly threatened to kill the woman and harm himself during the episode.

The ordeal ended peacefully when Penney was convinced by a State Police SWAT team negotiator to emerge from the home at 82 Lake Shore Drive where he was holed up.

Penney is facing charges that include theft of firearms, armed robbery and kidnapping. He entered no plea to the charges during a video arraignment Friday morning in Rochester Circuit Court.

Penney was ordered held on $500,000 cash bail. He heard the charges against him from inside the Strafford County House of Corrections, where he is being held.

Assistant Strafford County Attorney Matt Zahn said a high bail figure was requested because of the serious nature of the charges, which he described as “terrifying.”

“I think we all deserve to be safe in our homes ...” Zahn said, “and the defendant took away that right from two separate people in two separate residences.”

According to court documents, the incident began when Penney was at his brother's home on Elaine Road in Middleton Thursday afternoon.

Robert Penney told police Richard Penney showed up at his residence and stole a .22-caliber derringer from inside the home. He also was carrying a loaded .32-caliber pistol, Robert Penney said.

According to court documents, Richard Penney allegedly held the .32-caliber pistol to his brother's head and demanded that he hand over an AK-47 automatic rifle in his possession. Robert Penney replied the gun was not present, but Richard didn't believe him. Richard started counting down from five and threatened to “blow his brains out” if Robert didn't hand over the gun, according to an affidavit filed by Middleton Police Sgt. Timothy Brown.

After allegedly stealing the AK-47, Penney allegedly traveled on foot to Lakeshore Drive and entered a home near the intersection with Karen Road.

Police say the sole occupant was an adult female, who was unrelated to Penney. Police are investigating whether she interacted with him in the past.

After Friday's court hearing, Zahn said it's possible that Penney had a “passing acquaintance of some kind” with the woman.

Penney allegedly knocked on the woman's back door and pointed a rifle at her when she answered.

During the ensuing standoff, Penney told the woman he didn't want to hurt her at times, but at others, “stated that he was going to kill them both,” according to Brown's affidavit. He also allegedly said that if he held the woman hostage, police would not “come in and blow his brains out.”

During Friday's hearing, Zahn said Penney waited by the door with a loaded rifle during the incident, preparing for a shootout with police.

Upon hearing Zahn's comments in court, Penney began to interject and made an audible noise, but he broke off without speaking.

The female hostage was finally released at 4:40 p.m., and Penney surrendered to police at 5:07 p.m.

Prosecutors say Richard Penney does not have a criminal record. Zahn declined to comment on whether he has a history of mental illness. Robert Penney told police his brother is homeless.

Richard Penney spoke few words during Friday's hearing, answering only “Yeah,” to a series of procedural questions from Judge Daniel Cappiello.

If he makes bail, Penney has been ordered to undergo a mental evaluation and to wear a GPS tracking bracelet. He has been ordered to have no contact with his brother or the woman he allegedly held captive, or to come within close proximity of their homes.

Penney has also been ordered to abstain from drinking alcohol or using narcotic drugs if he is released.

“I do find that you are a danger to others, given the facts and allegations of the state,” Cappiello said.

Penney is next scheduled to appear in court on Feb. 11 at 1 p.m. for a probable cause hearing.